JP5888822B2 - Kinematic support mechanism - Google Patents

Description

  The present invention relates to a kinematic support mechanism, and more particularly to a "V-groove-V-groove-V-groove" type.

  The kinematic support mechanism is a support mechanism that reproduces the relative positional relationship between two substrates with high accuracy, and also avoids deformation by escaping the difference in thermal expansion between the substrates. A conventional kinematic support mechanism includes a base (ball-side base) to which three ball-shaped convex portions (kinema balls) are fixed, and a base (receiving-side base) facing the base.

  7 and 8 schematically show examples of the configuration of a conventional kinematic support mechanism. 8A, 8B, and 8C are cross-sectional views taken along lines VIIIa-VIIIa, VIIIb-VIIIb, and VIIIc-VIIIc of FIG. 7, respectively. Ball-shaped convex portions 30, 40 and 50 are fixedly provided on the ball-side base 10, and each of them abuts on the receiving-side base 20, so that the ball-side base 10 and the receiving-side base 20 are relative to each other. Determine the positional relationship uniquely.

The ball-shaped convex portions 30, 40 and 50 abut on the V grooves 21, 22 and 23 of the receiving base 20 at two points, respectively. As described above, the ball-side base 10 and the receiving-side base 20 are in contact with each other at a total of six points, thereby restricting the six degrees of freedom (X, Y, Z, θ _x , θ _y , θ _z ) representing the relative positions. To determine the position.

FIG. 9 schematically shows another example of the configuration of a conventional kinematic support mechanism. In this example, instead of “V-groove-V-groove-V-groove” shown in FIG. 8, a configuration of “plane-V-groove-cone” is used. The ball-shaped convex portion 30 abuts on the flat portion 24 at one point, the ball-shaped convex portion 40 abuts on the V groove 22 at two points, and the ball-shaped convex portion 50 contacts the conical concave portion 25 with a circle (or three points). Touch. As described above, the ball-side base 10 and the receiving-side base 20 are in contact with a total of three points and a circle (or six points), so that there are six degrees of freedom (X, Y, Z, θ _x , θ representing the relative position). _The position is determined by binding _y , θ _z ).

  As an example of the configuration of such a kinematic support mechanism, there is a configuration described in Patent Document 1 as a conventional technique. FIG. 9 of Patent Document 1 shows an example of a “plane-V groove-cone” method and an example of a “V groove-V groove-V groove” method.

  Patent Document 2 describes an example of a configuration in which a part of a kinematic support mechanism is deformed. 1A to 1D of Patent Document 2 show an example of a “plane-V groove-cone” system.

  As for the “plane-V groove-cone” method, it is known to use a sphere that is not fixed to any base instead of the ball-shaped convex portion. FIG. 6 of Patent Document 3 shows an example of such a configuration.

JP 2008-159632 A Japanese Patent No. 4836940 JP 2006-78187 A JP 2004-78209 A

  In order for the kinematic support mechanism of the “V-groove-V-groove-V-groove” system to function ideally, the ball-side base and the receiving-side base come into contact via a ball-shaped convex portion, and the ball-side base ball It is necessary that the contact between the convex portion and the receiving base moves (slides) without resistance. However, the conventional technique has a problem that friction may occur between the ball-shaped convex portion of the ball side base and the receiving side base. Examples of undesirable events caused by friction include a decrease in the positional accuracy of the base, an undesirable force applied to the mechanism, and displacement and deformation.

As in the above-mentioned Patent Document 3, it is known to use a sphere that is not fixed to any base for the “plane-V groove-cone” type . Further, Patent Document 4 describes using a sphere that is not fixed to any base for the “V groove-V groove-V groove” type.

The present invention has been made to improve the “V-groove-V-groove-V-groove” method, and in the kinematic support mechanism of the “V-groove-V-groove-V-groove” method, the installation error of the member is reduced . The object is to provide a reduction.

In order to solve the above-mentioned problems, a kinematic support mechanism according to the present invention is a kinematic support mechanism including a first support member, a second support member, a first ball, a second ball, and a third ball. ,
The first support member includes a first groove portion, a second groove portion, and a third groove portion,
The second support member includes a fourth groove portion, a fifth groove portion, and a sixth groove portion,
The first ball, the second ball, and the third ball are all movable with respect to the first support member and the second support member;
The first groove portion and the fourth groove portion face each other with the first ball interposed therebetween,
The second groove portion and the fifth groove portion face each other with the second ball interposed therebetween,
The third groove portion and the sixth groove portion face each other with the third ball interposed therebetween ,
The first support member is
A first ball holding mechanism for limiting the position of the first ball within a first movement range;
A second ball holding mechanism for limiting the position of the second ball within a second movement range;
A third ball holding mechanism for limiting the position of the third ball within a third movement range;
With
Each of the moving ranges has a finite extent;
The first ball holding mechanism includes an elastic member that biases the first ball toward the inner side of the first movement range,
The second ball holding mechanism includes an elastic member that biases the second ball toward the inner side of the second movement range,
The third ball holding mechanism, Ru includes an elastic member for biasing said third ball inwardly of the third movement range of.
The kinematic support mechanism according to the present invention is a kinematic support mechanism comprising a first support member, a second support member, a first ball, a second ball, and a third ball,
The first support member includes a first groove portion, a second groove portion, and a third groove portion,
The second support member includes a fourth groove portion, a fifth groove portion, and a sixth groove portion,
The first ball, the second ball, and the third ball are all movable with respect to the first support member and the second support member;
The first groove portion and the fourth groove portion face each other with the first ball interposed therebetween,
The second groove portion and the fifth groove portion face each other with the second ball interposed therebetween,
The third groove portion and the sixth groove portion face each other with the third ball interposed therebetween,
A ball holding mechanism capable of switching between a ball fixed state and a ball movable state is provided.

The first groove portion, the second groove portion and the third groove portion are arranged radially,
The fourth groove portion, the fifth groove portion and the sixth groove portion are arranged radially,
The first groove abuts the first ball at two points,
The second groove portion contacts the second ball at two points,
The third groove portion contacts the third ball at two points,
The fourth groove portion contacts the first ball at two points,
The fifth groove abuts on the second ball at two points,
The sixth groove portion may contact the third ball at two points .
The pre-Symbol first support member and the second support member may further comprise a pressing means for biasing toward each other.

According to the kinematic support mechanism according to the present invention, the position of the kinema ball at the time of base installation is more accurately determined by the action of the ball holding mechanism, so that the member installation accuracy can be improved .

It is a figure which shows the structure of the kinematic support mechanism which concerns on Embodiment 1 of this invention. It is a figure which shows the more detailed structure of each kinema ball periphery of FIG. It is sectional drawing of each part of FIG. It is a figure which shows the outline of an example of a pressing means. It is a figure which shows the example of the ball | bowl holding | maintenance mechanism which can switch a ball fixed state and a ball movable state. It is a figure which shows another example of the ball holding mechanism which can switch a ball fixed state and a ball movable state. It is a figure which shows the structure of the conventional kinematic support mechanism. It is sectional drawing which shows the structure of the conventional kinematic support mechanism. It is a figure which shows the other structure of the conventional kinematic support mechanism.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 shows a configuration of a kinematic support mechanism 100 according to Embodiment 1 of the present invention. The kinematic support mechanism 100 can be called a “V-groove-V-groove-V-groove” type kinematic support mechanism. Note that FIG. 1 shows an outline of the components, and the specific structure and positional relationship of each component is not strict (for example, each V groove is illustrated so as to protrude from the surface of each substrate. In fact, it may be provided to be carved on the surface of each base). The kinematic support mechanism 100 is configured as a part of a kinematic support device, for example.

  The kinematic support mechanism 100 includes a ball side base 110 (first support member) and a receiving side base 120 (second support member). The ball side substrate 110 includes a V groove 111 (first groove portion), a V groove 112 (second groove portion), and a V groove 113 (third groove portion).

  In relation to the ball-side base 110, a kinema ball 130 (first ball), a kinema ball 140 (second ball), and a kinema ball 150 (third ball) are provided as kinema balls. Kinema balls 130, 140 and 150 are arranged in V groove 111, V groove 112 and V groove 113, respectively. Kinema balls 130, 140 and 150 are, for example, spheres.

  The ball-side base 110 includes a ball holding mechanism 161 (first ball holding mechanism), a ball holding mechanism 162 (second ball holding mechanism), and a ball holding mechanism 163 (third ball holding mechanism). Ball holding mechanisms 161, 162, and 163 are disposed around kinema balls 130, 140, and 150, respectively. Although not particularly illustrated, the ball holding mechanisms 161, 162, and 163 are fixed to the ball-side base 110. The ball holding mechanisms 161, 162, and 163 do not directly contact the ball side base 110 and the receiving side base 120, and are held beside the ball side base 110 via some support member. It may be.

  The receiving base 120 can be configured in the same manner as, for example, a conventional "V groove-V groove-V groove" type receiving base, but an example is shown in the accompanying drawings. The receiving base 120 includes a V groove 121 (fourth groove), a V groove 122 (fifth groove), and a V groove 123 (sixth groove).

  The V-shaped groove 111 of the ball-side base 110 includes a part of each of two planes that form an angle larger than 0 degree and smaller than 180 degrees, and the sphere always moves when the sphere moves on a certain line segment. And two points. The same applies to the V-groove 112 and the V-groove 113 of the ball-side base 110, and the same applies to the V-grooves 121 to 123 of the receiving-side base 120. The direction of this line segment is taken as the direction of each V-groove.

  The V-groove 111 of the ball-side base 110 and the V-groove 121 of the receiving-side base 120 face each other across the kinema ball 130. Similarly, the V-groove 112 of the ball-side base 110 and the V-groove 122 of the receiving-side base 120 face each other with the kinema ball 140 interposed therebetween, and the V-groove 113 of the ball-side base 110 and the V-groove of the receiving-side base 120 123 is opposed to the kinema ball 150. Two V-grooves facing each other (for example, the V-groove 112 and the V-groove 122) are parallel to each other in this example.

2 and 3 show a detailed configuration around the kinema balls 130, 140, and 150. FIG.
In the attached drawings, for the sake of illustration, it is illustrated that the vertical line of each base is in the vertical direction, in particular, the ball side base 110 is disposed on the lower side and the receiving side base 120 is disposed on the upper side. Yes. However, when the kinematic support mechanism 100 is actually installed, these arrangements may be determined in any way, for example, the ball-side base 110 may be arranged on the upper side. Moreover, you may arrange | position so that the perpendicular of each base | substrate may become a horizontal direction or a diagonal direction.

  The V-groove 111, the V-groove 112, and the V-groove 113 of the ball side base 110 are arranged radially, for example, on the same plane or substantially on the same plane. The relationship between the V groove 121, the V groove 122, and the V groove 123 of the receiving base 120 is the same.

  FIG. 3A is a cross-sectional view of the kinema ball 130 and its periphery by a plane passing through the center of the kinema ball 130 and perpendicular to the V groove 111 (a plane along the line IIIa-IIIa in FIG. 2). FIG. 3B is a cross-sectional view of the kinema ball 140 and its periphery by a plane passing through the center of the kinema ball 140 and perpendicular to the V groove 112 (a plane along the line IIIb-IIIb in FIG. 2). FIG. 3C is a cross-sectional view of the kinema ball 150 and its periphery by a plane passing through the center of the kinema ball 150 and perpendicular to the V groove 113 (a plane along the line IIIc-IIIc in FIG. 2). In FIG. 3, the ball holding mechanisms 161, 162, and 163 show only the cut end face by the cross section.

  All of the kinema balls 130, 140, and 150 can move within a predetermined range with respect to the ball-side base 110 and the receiving-side base 120. As used herein, “movement” includes movement (ie, displacement of the center position), rotation around the center, rolling, and combinations thereof. Further, the movable range is limited by the ball holding mechanism. The ball holding mechanism 161 limits the position of the kinema ball 130 within a predetermined movement range (first movement range), and the ball holding mechanism 162 sets the position of the kinema ball 140 to a predetermined movement range (second movement range). The ball holding mechanism 163 limits the position of the kinema ball 150 within a predetermined movement range (third movement range).

  The moving range has a non-zero finite extent. For example, when the kinema ball 130 moves on the V-groove 111, the movement range of the center of the kinema ball 130 is on a line parallel to the V-groove 111 (for example, according to the shape of the V-groove 111 or a structure corresponding thereto). (On a straight line or curve) and a finite length.

  Specific configurations of the ball holding mechanisms 161, 162, and 163 are not particularly shown in detail, but those skilled in the art can appropriately design based on the description of the present specification. For example, the ball holding mechanisms 161, 162, and 163 can be formed using an annular elastic member (such as rubber) having a thickness. If comprised in this way, the elastic member of the ball | bowl holding | maintenance mechanism 161, 162, and 163 will urge the kinema balls 130, 140, and 150 to the inner side of a movement range, respectively. Here, the “inner direction” can be defined as a direction in which the distance between each ball and the center of each moving range is shortened, for example.

  Further, as shown in FIGS. 1 and 3, for example, if the inner diameter of the ball holding mechanism 161 is designed to be larger than the diameter of the kinema ball 130 by a predetermined length, the predetermined length and the elasticity of the ball holding mechanism 161 can be reduced. The movement range of the kinema ball 130 is defined. The same applies to the relationship between the ball holding mechanism 162 and the kinema ball 140 and the relationship between the ball holding mechanism 163 and the kinema ball 150. In addition, a part or all of the ball holding mechanism can be formed of an inelastic member (metal or the like).

  As shown in FIG. 3, the V-groove 111 of the ball-side base 110 and the V-groove 121 of the receiving-side base 120 are opposed to each other with the kinema ball 130 interposed therebetween, and abut against the kinema ball 130 at two points. The V-groove 112 of the ball-side base 110 and the V-groove 122 of the receiving-side base 120 are opposed to each other with the kinema ball 140 interposed therebetween, and abut against the kinema ball 140 at two points. The V-groove 113 of the ball-side base 110 and the V-groove 123 of the receiving-side base 120 are opposed to each other with the kinema ball 150 interposed therebetween, and abut against the kinema ball 150 at two points.

  In this way, each base of the kinematic support mechanism 100 comes into contact with the ball at a total of 6 points by the three V grooves coming into contact with the ball at 2 points. As a result, the kinematic support mechanism 100 constrains all six degrees of freedom that define the relative positional relationship between the ball-side base 110 and the receiving-side base 120, and uniquely determines the relative position so that the two bases are supported. Secure to each other. Since there are no other contacts between kinematic balls 130, 140, and 150 and receiving base 120, no excessive binding occurs and no undesirable force is applied to the inside of kinematic support mechanism 100.

  Further, each kinema ball is not fixed to the ball side base 110 or the receiving side base 120. For this reason, when the base is relatively expanded and contracted due to a difference in thermal expansion between the ball side base 110 and the receiving side base 120, each kinema ball freely rolls accordingly. In particular, each kinema ball is not fixed to any base and can freely roll along each V-groove, so that the frictional force can be reduced.

  For example, the kinema ball 130 rolls along the V-groove 111 to release relative expansion and contraction of the base in the V-groove 111 direction. The kinema ball 130 is sandwiched between the V-groove 111 and the V-groove 121 and is in contact with the ball-side base 110 and the receiving-side base 120 at two points, so that one of the bases is displaced in a direction perpendicular to the V-groove 111. Thus, the kinema ball 130 does not deviate (assuming that an appropriate pressing force is acting between the two bases in the direction toward each other). Similarly, the kinema balls 140 and 150 roll along the V-grooves 112 and 113, respectively, thereby releasing the relative expansion and contraction in the direction along the V-grooves 112 and 113, respectively.

Hereinafter, a part of the difference between the configuration according to the prior art and the configuration of the present invention will be described.
In the conventional configuration shown in FIGS. 7 and 8, ideally, the ball-shaped convex portions 30, 40, and 50 slide in the corresponding directions while contacting the V grooves 21, 22, and 23, respectively, and escape the expansion and contraction in that direction. . However, static friction is generated between each ball-shaped convex portion and each V-groove, and sliding friction is also generated when each ball-shaped convex portion slides. There is a possibility that each ball-shaped convex portion does not slide to a position corresponding to the position accurately.

  On the other hand, in the configuration of the present invention shown in FIGS. 2 and 3, the kinema balls 130, 140, and 150 are not fixed to the ball side base 110 and can roll freely, thereby reducing the frictional force. it can. In general, rolling friction is on the order of 1/1000 to 1/10000 of static friction or its degree. Thus, since the expansion and contraction of the base can be released with low friction, the force applied to the kinematic support mechanism 100 by the expansion and contraction of the base can be reduced, and a low distortion kinematic support device can be realized. As a result, a member to be supported (such as an optical component) can be installed on the kinematic support device with good reproducibility.

  In addition, none of the configurations described in Patent Document 2 have the same shape of the portions facing each other between the substrates. For example, the V groove and the flat part are opposed, or the V groove and the conical concave part are opposed. In such a configuration, when the kinema ball rolls, the relative positional relationship between the bases cannot be uniquely determined. Therefore, strictly, it does not function as a kinematic support mechanism, and the position reproducibility is lowered.

As described in the section [Background Art], FIG. 6 of Patent Document 3 uses a sphere that is not fixed to any base for the “plane-V groove-cone” type. It has been. Further, in Patent Document 4, it is known to use a sphere that is not fixed to any base for the “V groove-V groove-V groove” type. For the "V-groove-V-groove-V-groove" type, a mechanism that accurately regulates the position of an unfixed ball is provided, so that higher performance can be obtained as a positioning mechanism. There is a part of sex.

In the first embodiment described above, the following modifications can be made.
Each V-groove may have other shapes. For example, as long as the corresponding kinema ball can be appropriately held at two points (or contact portions that can be regarded as substantially two points), it may be constituted by a groove-shaped curved surface or a cylindrical pair.

  Each kinema ball may be substantially fixed at the center position as long as the kinema ball can roll minutely with respect to the ball-side base 110 and the receiving-side base 120. For example, if the inner diameter of the ball holding mechanism having the elastic member on the inner diameter side is configured to match the diameter of the corresponding kinema ball, the kinema ball is at least in a state where the receiving base 120 is not installed. It is always held at a predetermined point by the elasticity of the ball holding mechanism. Even in such a case, the elastic member of the ball holding mechanism should have a low elastic modulus (easily deformable) and be loosely held so as not to impair the minute free rolling of the kinema ball that occurs when the base is installed or expanded or contracted. If it is, the effect of this invention can be acquired.

  The specific shape of each ball holding mechanism is not limited to that illustrated. The ball holding mechanism only needs to limit the movement of the corresponding kinema ball in the direction along the V groove. For example, two independent members may be arranged at both ends in the direction along the V groove. Moreover, you may use a spring instead of rubber | gum etc. as an elastic member. Further, the kinema ball may be held within a predetermined movement range by a magnetic force or the like.

  Further, when it is not necessary to limit the movement range of one or a plurality of kinema balls, the corresponding ball holding mechanism (part or all of the ball holding mechanisms) may be omitted. For example, this corresponds to the case where the user of the kinematic support mechanism 100 can grasp the moving range of each kinematic ball and adjust it so as not to deviate from the corresponding V groove.

The kinematic support mechanism 100 may include a pressing unit that urges the ball side base 110 and the receiving side base 120 toward each other.
FIG. 4 schematically shows an example of the pressing means (note that some components are not shown in FIG. 4). In the first embodiment, due to the effect of the present invention, the friction around each kinema ball is reduced, so that vibration may be easily caused. The pressing means 170 can be expected to suppress the vibration and increase the installation accuracy and stability.

  The pressing means 170 includes a permanent magnet provided on the ball side base 110 and an electromagnet provided on the receiving side base 120. By supplying a current to the electromagnet, it is expected that an attractive force is generated between the ball-side base 110 and the receiving-side base 120, vibration is suppressed, and installation accuracy and stability are improved. The specific configuration of the pressing unit 170 is not limited to that shown in FIG. 4, and any configuration may be used as long as it urges the ball side base 110 and the receiving side base 120 toward each other. It can be realized by using vacuum adsorption, magnetic force, electromagnetic force, pressure, and the like.

  Further, when permanent magnets or electromagnets (collectively referred to as magnets) are used for the base on one side, a region (for example, a plate made of a metal such as iron) containing a ferromagnetic material instead of a magnet is provided on the opposing base. It may be provided. When suctioning using vacuum suction, magnetic force, electromagnetic force, etc., install multiple suction devices at positions that are symmetrical (point symmetry or rotational symmetry) around the support point, or centering on the support point It is preferable to provide an annular suction device. In the case of the arrangement as shown in FIG. 1, the arm may be mechanically pressed from above the receiving base 120 with an arm. Also in this case, it is preferable to ensure symmetry around the support point.

  Each ball holding mechanism has a state in which each kinema ball is fixed to one point (that is, a state in which the kinema ball cannot move; hereinafter referred to as “ball fixed state”) and a range in which the kinema ball has a predetermined spread. It may be possible to switch between a state in which it can move (hereinafter referred to as a “ball movable state”).

  FIG. 5 shows an example of a ball holding mechanism that realizes such a function. FIG. 5A shows an example of a ball fixed state, and FIG. 5B shows an example of a ball movable state. In FIG. 5, for convenience of illustration, the shapes of the ball-side base 110 and the receiving-side base 120 are different from those in FIG. 3 and the like. The same applies to FIG. 6 described later.

  The ball holding mechanism 180 includes a pair of holding members 181a and 181b as holding members for holding the kinema ball 130. 5A and 5B show a cross-sectional view (upper stage) of the kinema ball 130 and the periphery thereof, and shapes of the holding members 181a and 181b (lower stage) viewed from a direction orthogonal to the cross-section. In addition, a pair of movable support mechanisms 182a and 182b are provided as movable support mechanisms that movably support the holding member. The movable support mechanism 182a supports the holding member 181a, and the movable support mechanism 182b supports the holding member 181b. In addition, in the cross-sectional view (upper stage) of FIG.

  The holding members 181a and 181b are each provided with an inelastic member having an arc shape on the inner edge, and in the state of FIG. 5A, these are arranged at an equal distance from the ball side base 110, and the first distance is set. In the state of being placed facing each other, both arcs constitute the same circle. The holding members 181a and 181b are in contact with the surface of the kinema ball 130 along the circle, and the kinema ball 130 is fixed at one point between the ball side base 110 and the ball side base 110.

  In the state of FIG. 5B, the interval between the holding members 181a and 181b is wider. That is, the holding members 181a and 181b face each other with a second distance larger than the first distance. In this state, kinema ball 130 is not fixed at one point, and can move within a range having a predetermined spread as in the first embodiment.

  Thus, if the ball fixed state and the ball movable state can be switched, the positional accuracy at the time of base installation can be improved. For example, the user first installs the ball-side base and the receiving-side base in the ball fixed state, and then shifts to the ball movable state. In this way, since the accuracy of position reproduction of each ball at the time of installing each base is increased, the position accuracy of the base is further increased. This is particularly effective when there is an error in the position and orientation of each V-groove.

  A person skilled in the art can appropriately design a configuration for switching between the ball fixed state and the ball movable state. For example, when the movable support mechanisms 182a and 182b are both slidable at different positions on the same straight line, and fixed at a first distance, the ball is fixed, and the second slidable is moved to each other. When fixed at a distance, the ball can be moved. The movable support mechanisms 182a and 182b may be rotated around an appropriate fulcrum and opened.

  The shape of the holding member is not limited to that illustrated. For example, it may be a semicircle. In this case, in the ball fixed state, the two holding members are in contact with each other to form a ring. The shape of the holding member is not limited to an arc. Those skilled in the art can appropriately design the shape that can fix the ball to one point. An elastic member may be used for part or all of the movable support mechanism and part or all of the holding member.

  FIG. 6 shows an example of the configuration of the ball holding mechanism 183 having a configuration different from that shown in FIG. FIG. 6A shows an example of a ball fixed state, and FIG. 6B shows an example of a ball movable state.

  The ball holding mechanism 183 includes a pair of holding members 184 a and 184 b as holding members that hold the kinema ball 130. In addition, a pair of movable support mechanisms 185a and 185b are provided as movable support mechanisms that movably support the holding member. The movable support mechanism 185a supports the holding member 184a, and the movable support mechanism 185b supports the holding member 184b. In addition, in FIG. 6, about holding member 184a, 184b, only the cut part end surface by a cross section is shown. Further, in FIG. 6, members for fixing the movable support mechanisms 185 a and 185 b to the ball-side base 110 are not particularly illustrated.

  The shapes of the holding members 184a and 184b can be configured in the same manner as the holding members 181a and 181b in FIG. 5, for example. In addition, the holding members 184a and 184b are both arranged at a first distance from the ball-side base 110, and both arcs form the same circle. The holding members 184a and 184b are in contact with the surface of the kinema ball 130 along this circle, and fix the kinema ball 130 at one point between the ball side base 110.

  In the state of FIG. 6B, the holding members 184a and 184b are lifted. That is, the holding members 184a and 184b are arranged at a second distance that is larger than the first distance from the ball-side base 110. In this state, kinema ball 130 is not fixed at one point, and can move within a range having a predetermined spread as in the first embodiment.

  A person skilled in the art can appropriately design the configuration for switching between the ball fixed state and the ball movable state. For example, the movable support mechanisms 185a and 185b are slidable in directions that are not parallel to the ball-side base 110 (for example, directions orthogonal to the ball-side base 110), and are fixed at a first distance from the ball-side base 110. In some cases, the ball is fixed, and when these are slid and fixed at a second distance from the ball-side base 110, the ball can be moved.

  The shape of the holding member is not limited to that illustrated. For example, it may be a semicircle. In this case, in the ball fixed state, the two holding members are in contact with each other to form a ring. Further, in the example as shown in FIG. 6, since the relative positional relationship of each part of the holding member is always fixed, the holding member does not have to be separated into a plurality of parts, but a single member (for example, a washer) A single annular member). Further, the shape of the holding member is not limited to an arc or a ring. Those skilled in the art can appropriately design the shape that can fix the ball to one point. An elastic member may be used for part or all of the movable support mechanism and part or all of the holding member.

  100 kinematic support mechanism, 110 ball side base (first support member), 111 V groove (first groove), 112 V groove (second groove), 113 V groove (third groove), 120 receiving side base (first 2 support members), 121 V-groove (fourth groove), 122 V-groove (fifth groove), 123 V-groove (sixth groove), 130 kinema ball (first ball), 140 kinema ball (second ball), 150 kinema ball (third ball), 161 ball holding mechanism (first ball holding mechanism), 162 ball holding mechanism (second ball holding mechanism), 163 ball holding mechanism (third ball holding mechanism), 170 pressing means.

Claims (5)

A kinematic support mechanism comprising a first support member, a second support member, a first ball, a second ball, and a third ball,
The first support member includes a first groove portion, a second groove portion, and a third groove portion,
The second support member includes a fourth groove portion, a fifth groove portion, and a sixth groove portion,
The first ball, the second ball, and the third ball are all movable with respect to the first support member and the second support member;
The first groove portion and the fourth groove portion face each other with the first ball interposed therebetween,
The second groove portion and the fifth groove portion face each other with the second ball interposed therebetween,
The third groove portion and the sixth groove portion face each other with the third ball interposed therebetween,
The first support member is
A first ball holding mechanism for limiting the position of the first ball within a first movement range;
A second ball holding mechanism for limiting the position of the second ball within a second movement range;
A third ball holding mechanism for limiting the position of the third ball within a third movement range;
With
Each of the moving ranges has a finite extent;
The first ball holding mechanism includes an elastic member that biases the first ball toward the inner side of the first movement range,
The second ball holding mechanism includes an elastic member that biases the second ball toward the inner side of the second movement range,
The third ball holding mechanism includes an elastic member for biasing said third ball inwardly of the third movement range of key nematic support mechanism. The kinematic support mechanism according to claim 1, further comprising a ball holding mechanism capable of switching between a ball fixed state and a ball movable state. A kinematic support mechanism comprising a first support member, a second support member, a first ball, a second ball, and a third ball,
The first support member includes a first groove portion, a second groove portion, and a third groove portion,
The second support member includes a fourth groove portion, a fifth groove portion, and a sixth groove portion,
The first ball, the second ball, and the third ball are all movable with respect to the first support member and the second support member;
The first groove portion and the fourth groove portion face each other with the first ball interposed therebetween,
The second groove portion and the fifth groove portion face each other with the second ball interposed therebetween,
The third groove portion and the sixth groove portion face each other with the third ball interposed therebetween,
It comprises a ball holding mechanism capable of switching a ball fixed state and a ball movably, key nematic support mechanism. The first groove portion, the second groove portion and the third groove portion are arranged radially,
The fourth groove portion, the fifth groove portion and the sixth groove portion are arranged radially,
The first groove abuts the first ball at two points,
The second groove portion contacts the second ball at two points,
The third groove portion contacts the third ball at two points,
The fourth groove portion contacts the first ball at two points,
The fifth groove abuts on the second ball at two points,
The sixth groove abuts on the third ball at two points;
The kinematic support mechanism according to any one of claims 1 to 3 . The kinematic support mechanism according to any one of claims 1 to 4 , further comprising pressing means for biasing the first support member and the second support member toward each other.

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